An adaptive framework of real-time continuous gait phase variable estimation for lower-limb wearable robots

• Published in: Robotics and autonomous systems Vol. 143; p. 103842
• Main Authors: Zhang, Binquan, Wang, Sun’an, Zhou, Min, Xu, Wanlu
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.09.2021
• Subjects: Gait kinematics; Gait phase estimation; Trajectory correlation; Wearable robotics; Wearable robotics; Gait phase estimation; Trajectory correlation; Gait kinematics

Phase-variable-based approaches are emerging in the control of lower-limb wearable robots, such as exoskeletons and prosthetic legs. However, real-time smooth estimation of the gait phase within each gait cycle remains an open problem. This paper presents a novel method for real-time continuous gait...